1. CSV Data Sequence

| Time(s) | F_x(N) | F_y(N) | F_z(N) | T_x(Nm) | T_y(Nm) | T_z(Nm) | P_x(m) | P_y(m) | P_z(m) | O_x(rad) | O_y(rad) | O_z(rad) | V_px(m/s) | V_py(m/s) | V_pz(m/s) | V_ox(rad/s) | V_oy(rad/s) | V_oz(rad/s) |

F_x, F_y, F_z: Forces detected based on the (left-handed) sensor coordinate.
T_x, T_y, T_z: Torques detected based on the (right-handed) sensor coordinate.
P_x, P_y, P_z: Positions of the center of the markers on the forque based on the global coordinate.
O_x, O_y, O_z: Euler angles of the forque. The initial orientation of the forque is when the orientation of the local marker coordinate system (x_m, y_m, z_m) aligns with the orientation of the global coordinate system (X, Y, Z).
V_px, V_py, V_pz: Translational velocities of the forque based on the backward differentiation of the position.
O_px, O_py, O_pz: Angular velocities of the forque based on the backward differentiation of the euler angles.

2. CSV Data Coordinate Frames

The forces and torques are in the local coordinate frame of the forque. The poses and velocities are in the world frame. The frames are shown in the paper.

3. CSV Data Rotations

The orientaion follows ZYX Euler convention. 

4. Depth Images

Each depth image is stored in the format <timestamp>_depth.jpg. We have a sequence of depth images for each feeding trial for every subject and food item. 
Note, we do not have any depth image data for subject 10.

5. RGB Images

Each rgb image is stored in the format <timestamp>_rgb.jpg. We have a sequence of rgb images for each feeding trial for every subject and food item. 
Note, we do not have any rgb image data for subject 10.
